Teleoperation over IP Network: Virtual PUMA Robot - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2003

Teleoperation over IP Network: Virtual PUMA Robot

Abstract

We propose in this paper a stable remote position/force control scheme for manipulator robot via Internet based on Smith Predictor principle. In order to validate in real network situation our control method, we developed a real time Virtual Puma Robot based on RTLinux Operating System. This Virtual Robot contains a real time task which computes the differential non linear equation of the PUMA Robot including a virtual environment in order to perform a force control loop. Some interesting experimental results in the case of long distance (Mexico-France : ~7000 km) show the real improvement obtained with this method under some important mean time delay (~200ms). This addition enhances and secures the teleoperation through the Internet. The Virtual PUMA Robot server will be reachable on Internet and available for the conference to perform some real-time teleoperation experimentations via a Java HMI. Closing a loop through an IP network open some news application field such that a cooperated control for robotics systems via Internet.
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Dates and versions

lirmm-00269447 , version 1 (03-04-2008)

Identifiers

  • HAL Id : lirmm-00269447 , version 1

Cite

Philippe Fraisse, Cédric Agniel, David Andreu, Jose Armando Segovia de Los Rios. Teleoperation over IP Network: Virtual PUMA Robot. ICIT: International Conference on Industrial Technology, Dec 2003, Maribor, Slovenia. pp.669-674. ⟨lirmm-00269447⟩
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